Embedded Control for Mobile Robotic Applications

Leena Vachhani, Pranjal Vyas, Arunkumar G. K.

• Publisher: Wiley-IEEE Press
• Year: 2022
• Print ISBN: 9781119812388
• eBook ISBN: 9781119812401
• Edition: 1
• Topic: Biological Sciences
• Subtopic: Systems Architecture
• Index: Biological Sciences

An all-in-one resource for designing and implementing embedded control in mobile robotics

In Embedded Control for Mobile Robotic Applications, a distinguished trio of researchers delivers an authoritative and fulsome resource for understanding embedded control and robotics. The book includes coverage of a variety of embedded platforms, their use in controller implementation, stability analyses of designed controllers, and two new approaches for designing embedded controllers.

The authors offer a full chapter on Field-Programmable-Gate-Array (FPGA) architecture development for controller design that is perfect for both practitioners and students taking robotics courses and provide a companion website that includes MATLAB codes for simulation and embedded platform-specific code for mobile robotic applications (in Embedded C and Verilog).

The two approaches discussed by the authors—the top-down methodology and the bottom-up methodology—are of immediate practical utility to both practicing professionals in the field and students studying control applications and mobile robotics. The book also offers:

• A thorough introduction to embedded control, including processor, IC, and design technology, as well as a discussion of limitations in embedded control design
• Comprehensive explorations of the bottom-up and top-down methods, including computations using CORDIC, interval arithmetic, sliding surface design, and switched nonlinear systems
• Practical discussions of generic FPGA architecture design, including Verilog, PID controllers, DC motors and Encoder, and a systematic approach for designing architecture using FSMD
• In-depth examinations of discrete-time controller design, including the approximation to discrete-time transfer function and embedded implementation stability

Perfect for practitioners working in embedded control design and control applications in robotics, Embedded Control for Mobile Robotic Applications will also earn a place in the libraries of academicians, researchers, senior undergraduate students, and graduate students in these fields.

Table of contents

• Cover
• Table of Contents
• Title Page
• Copyright
• Preface
• Acknowledgments
• Acronyms
• Introduction
• About the Companion Website
• 1 Embedded Technology for Mobile Robotics
• 2 Discrete-time Controller Design
• 3 Embedded Control and Robotics
• 4 Bottom-up Method
• 5 Top-Down Method
• 6 Generic FPGA Architecture Design
• 7 Summary
• Bibliography
• Index
• End User License Agreement